#!/usr/bin/env groovy

pipeline {
  agent none

  stages {

    stage('ROS Tests') {
      steps {
        script {
          def missions = [
            [
              name: "FW",
              test: "mavros_posix_test_mission.test",
              mission: "FW_mission_1",
              vehicle: "plane"
            ],

            [
              name: "MC_box",
              test: "mavros_posix_test_mission.test",
              mission: "MC_mission_box",
              vehicle: "iris"
            ],
            [
              name: "MC_offboard_att",
              test: "mavros_posix_tests_offboard_attctl.test",
              mission: "",
              vehicle: "iris"
            ],
            [
              name: "MC_offboard_pos",
              test: "mavros_posix_tests_offboard_posctl.test",
              mission: "",
              vehicle: "iris"
            ],

            [
              name: "Rover 1",
              test: "mavros_posix_test_mission.test",
              mission: "rover_mission_1",
              vehicle: "rover"
            ],

            [
              name: "VTOL_standard",
              test: "mavros_posix_test_mission.test",
              mission: "VTOL_mission_1",
              vehicle: "standard_vtol"
            ],
            [
              name: "VTOL_tailsitter",
              test: "mavros_posix_test_mission.test",
              mission: "VTOL_mission_1",
              vehicle: "tailsitter"
            ],
            // [
            //   name: "VTOL_tiltrotor",
            //   test: "mavros_posix_test_mission.test",
            //   mission: "VTOL_mission_1",
            //   vehicle: "tiltrotor"
            // ],

          ]

          def test_nodes = [:]
          for (def i = 0; i < missions.size(); i++) {
            test_nodes.put(missions[i].name, createTestNode(missions[i]))
          }

          parallel test_nodes
        } // script
      } // steps
    } // stage ROS Tests

    stage('Coverage') {
      parallel {

        stage('code coverage (python)') {
          agent {
            docker {
              image 'px4io/px4-dev-base-bionic:2019-10-24'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
          steps {
            sh 'export'
            sh 'make distclean'
            sh 'git fetch --tags'
            sh 'make python_coverage'
            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
              sh 'curl -s https://codecov.io/bash | bash -s - -F python'
            }

            sh 'make distclean'
          }
        }

        stage('unit tests') {
          agent {
            docker {
              image 'px4io/px4-dev-base-bionic:2019-10-24'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
          steps {
            sh 'export'
            sh 'make distclean'
            sh 'git fetch --tags'
            sh 'make tests'
            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
              sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
            }
            sh 'make distclean'
          }
        }

      } // parallel
    } // stage Coverage

  } //stages

  environment {
    CCACHE_DIR = '/tmp/ccache'
    CI = true
    CTEST_OUTPUT_ON_FAILURE = 1
    PX4_CMAKE_BUILD_TYPE = 'Coverage'
  }

  options {
    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
    timeout(time: 60, unit: 'MINUTES')
  }
} // pipeline

def createTestNode(Map test_def) {
  return {
    node {
      cleanWs()
      docker.image("px4io/px4-dev-ros-melodic:2019-10-24").inside('-e HOME=${WORKSPACE}') {
        stage(test_def.name) {
          def test_ok = true
          sh('export')

          checkout(scm)

          // run test
          try {
            sh('make distclean')
            sh 'git fetch --tags'
            sh('ccache -s')
            sh('make px4_sitl_default')
            sh('make px4_sitl_default sitl_gazebo')
            sh('ccache -s')
            sh('make rostest_run TEST_FILE=' + test_def.test + ' TEST_MISSION=' + test_def.mission + ' TEST_VEHICLE=' + test_def.vehicle)
          } catch (exc) {
            // save all test artifacts for debugging
            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
            test_ok = false
          }

          // log analysis
          withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
            sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'

            // process log data (with python code coverage)
            try {
              //sh('coverage run -p Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
              sh('Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
            } catch (exc) {
              // save log analysis artifacts for debugging
              archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
              // FIXME: don't let the script to fail the build
              // test_ok = false
            }

            // upload log to flight review (https://logs.px4.io/) with python code coverage
            sh('coverage run -p Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')

            // upload python code coverage to codecov.io
            sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
          }

          if (!test_ok) {
            error('ROS Test failed')
          }
        } // stage
        cleanWs()
      } // docker.image
    } // node
  } // return
} // createTestNode
